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Takagi–Sugeno Fuzzy Payload Estimation and Adaptive control

IFAC-PapersOnLine 2017年第1期50卷 844-849页

作者： Beyhan S. Sarabi F.E. Lendek Z. Babuška R. Department of Electrical and Electronics Engineering Pamukkale University Kinikli Campus Denizli 20070 Turkey Delft Center for Systems and Control Delft University of Technology Delft Netherlands Department of Automation Technical University of Cluj-Napoca Memorandumului nr. 28 Cluj-Napoca 400114 Romania

In this paper, a novel adaptive Takagi-Sugeno (TS) fuzzy observer-based controller is proposed. The closed-loop stability and the boundedness of all the signals are proven by Lyapunov stability analysis. The proposed controller is applied to a flexible-transmission experimental setup. The performance for constant payload in the presence of noisy measurements is compared to a controller based on a classical extended Luenberger observer. Simulation and real-time results show that the proposed observer-based feedback controller provides accurate position tracking under constant and varying payloads. © 2017

关键词： adaptive payload estimation flexible-transmission system observer-based control stability TS fuzzy modeling

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Mixed and Passive Depth control for Autonomous Underwater Vehicles with Fuzzy Memorized Sampled-Data controller

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International Journal of Fuzzy systems 2017年第2期20卷 621-629页

作者： Ma, Chao Qiao, Hong Kang, Erlong School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

This paper investigates the depth control problem for autonomous underwater vehicles (AUVs) by developing a novel fuzzy memorized sampled-data controller. In particular, the mixed $$H_{\infty }$$ and passive performance index is considered for disturbances in more practical underwater environments. By means of the Lyapunov–Krasovskii functional method, sufficient criteria are established such that the desired depth can be stabilized while satisfying the prescribed mixed $$H_{\infty }$$ and passive performance. Then, the desired fuzzy memorized controller is designed in terms of linear matrix inequalities (LMIs). Finally, an illustrative example is provided for demonstrating the feasibility and effectiveness of our derived results.

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Verification of monocular and binocular pose estimation algorithms in vision-based UAVs autonomous aerial refueling system

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Science China(Technological Sciences) 2016年第11期59卷 1730-1738页

作者： LI Han DUAN HaiBin Bio-inspired Autonomous Flight Systems (BAFS) Research Group Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University

With the high focus on autonomous aerial refueling(AAR), it becomes increasingly urgent to design efficient methods or algorithms for solving the AAR problems in complicated aerial environments. A vision-based technology for AAR is developed in this paper, and five monocular and binocular visual algorithms for pose estimation of the unmanned aerial vehicles(UAVs) are adopted and verified in this AAR system. The real-time on-board vision system is also designed for precise navigation in the UAVs docking phase. A series of out-door comparative experiments for different pose estimation algorithms are conducted to verify the feasibility and accuracy of the vision algorithms in AAR.

关键词： unmanned aerial vehicles（UAVs） autonomous aerial refueling（AAR） pose estimation monocular vision binocular vision

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GFTSM-based Model Predictive Torque control for PMSM Drive System With Single Phase Current Sensor

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自动化学报 2017年第9期43卷 1644-1655页

作者： Qingfang Teng Yuxing Jin Shuyuan Li Jianguo Zhu Youguang Guo Department of Automation and Electrical Engineering Lanzhou Jiaotong University Key Laboratory of Opto-Technology and Intelligent Control Ministry of Education Lanzhou 730070 Graduate Management Team Department Engineering University of Armed Police Force Xi'an 710000 School of Electrical Mechanical and Mechatronic Systems University of Technology Sydney (UTS) Australia Sydney 2007

A global fast terminal sliding mode (GFTSM)-based model predictive torque control (MPTC) strategy is developed for permanent magnet synchronous motor (PMSM) drive system with only one phase current sensor. Generally two phase-current sensors are indispensable for MPTC. In response to only one phase current sensor available and the change of stator resistance, a novel adaptive observer for estimating the remaining two phase currents and time-varying stator resistance is proposed to perform MPTC. Moreover, in view of the variation of system parameters and external disturbance, a new GFTSM-based speed regulator is synthesized to enhance the drive system robustness. In this paper, the GFTSM, based on sliding mode theory, employs the fast terminal sliding mode in both the reaching stage and the sliding stage. The resultant GFTSM-based MPTC PMSM drive system with single phase current sensor has excellent dynamical performance which is very close to the GFTSM-based MPTC PMSM drive system with two-phase current sensors. On the other hand, compared with proportional-integral (Pl)-based and sliding mode (SM)-based MPTC PMSM drive systems, it possesses better dynamical response and stronger robustness as well as smaller total harmonic distortion (THD) index of three-phase stator currents in the presence of variation of load torque. The simulation results validate the feasibility and effectiveness of the proposed scheme.

关键词： Adaptive observer current sensorless global fast terminal sliding mode (GFTSM) model predictive torque control (MPTC) permanent magnet synchronous motor (PMSM)

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Dynamical analysis of fractional-order financial system with delay 5

Dynamical analysis of fractional-order financial system with...

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5th International Workshop on Advanced Computational Intelligence and Intelligent Informatics, IWACIII 2017

作者： Zhang, Zhe Liu, Feng Zhang, Jin Sun, Fenglan Ren, Jie School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China College of Electrical and Information Engineering Hunan University Hunan410082 China Research Center of System Theory and Application Chongqing University of Posts and Telecommunications Chongqing400065 China

This paper we investigates the problem of stability and bifurcation of fractional-order financial system time-delay via the Lyapunov stability judgment method and application of impulse control method. Finally, a numerical simulation example is provided to verify the effectiveness and the benefit of the proposed stability and bifurcation criterion.

关键词： Bifurcation (mathematics)

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Real Time Simulation of Dynamic Voltage Restorer (DVR) utilizing RTDS and dSPACE 8

Real Time Simulation of Dynamic Voltage Restorer (DVR) utili...

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8th IEEE International Symposium on Power Electronics for Distributed Generation systems, PEDG 2017

作者： Da Silva Junior, Dalmo C. Musse, Bernardo F. Lanes, Matusalem M. De Oliveira, Janaina G. Faculty Electrical Engineering Multi Platform Simulations Laboratory Federal University of Juiz de Fora-MG Juiz de Fora-MG36036-900 Brazil Control and Automation Applied to Electrical Power Systems Group Federal Center for Technological Education of Minas Gerais Leopoldina-MG36700-000 Brazil

ISBN: (纸本)9781509053384

This paper deals with the simulation of a Dynamic Voltage Restorer (DVR) for compensating electric power grid disturbances, in order to protect sensitive loads. The DVR is composed for power electronics converters (AC-DC and DC-AC converters), a serie transformer and a control system. This control system is capable of detecting the disturbances and compensating them. The complete system (grid model, DVR and sensitive load) was simulated on Real-Time Digital Simulator (RTDS), with Hardware in the Loop (HTL) on dSPACE. In RTDS, the power circuits was modeled, and already on dPSACE, the control logic was implemented. In order to analyze the DVR's dynamic behavior, simulation tests have been performed, inserting disturbances with variable amplitude, characterizing a voltage sag, swell and interruption. And finally, the simulation results show a successful compensation for the disturbances inserted in grid, protecting the load. © 2017 IEEE.

关键词： Electric inverters

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Accuracy analysis for distributed weighted least-squares estimation in finite steps and loopy networks

arXiv

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arXiv 2018年

作者： Sui, Tianju Marelli, Damián Fu, Minyue Lu, Renquan Department of Control Science and Engineering Dalian University of Technology Liaoning China School of Automation Guandong University of Technology Guangzhou China French-Argentinean International Center for Information and Systems Sciences National Scientific and Technical Research Council Ocampo y Esmeralda Rosario2000 Argentina School of Electrical Engineering and Computer Science University of Newcastle University Drive CallaghanNSW2308 Australia

Distributed parameter estimation for large-scale systems is an active research problem. The goal is to derive a distributed algorithm in which each agent obtains a local estimate of its own subset of the global parameter vector, based on local measurements as well as information received from its neighbours. A recent algorithm has been proposed, which yields the optimal solution (i.e., the one that would be obtained using a centralized method) in finite time, provided the communication network forms an acyclic graph. If instead, the graph is cyclic, the only available alternative algorithm, which is based on iterative matrix inversion, achieving the optimal solution, does so asymptotically. However, it is also known that, in the cyclic case, the algorithm designed for acyclic graphs produces a solution which, although non optimal, is highly accurate. In this paper we do a theoretical study of the accuracy of this algorithm, in communication networks forming cyclic graphs. To this end, we provide bounds for the sub-optimality of the estimation error and the estimation error covariance, for a class of systems whose topological sparsity and signal-to-noise ratio satisfy certain condition. Our results show that, at each node, the accuracy improves exponentially with the so-called loop-free depth. Also, although the algorithm no longer converges in finite time in the case of cyclic graphs, simulation results show that the convergence is significantly faster than that of methods based on iterative matrix inversion. Our results suggest that, depending on the loop-free depth, the studied algorithm may be the preferred option even in applications with cyclic communication graphs. Copyright © 2018, The Authors. All rights reserved.

关键词： Optimal systems

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Optimal management of office energy consumption via Q-learning algorithm

Optimal management of office energy consumption via Q-learni...

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American control Conference

作者： Guang Shi Derong Liu Qinglai Wei The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Automation and Electrical Engineering University of Science and Technology Beijing

ISBN: (纸本)9781509045839

In this paper, a Q-learning based algorithm is developed to optimize energy consumption in an office, where solar energy is introduced as the renewable source and a battery is installed as the control unit. The energy consumption in the office, regarded as the energy demand, is divided into those from sockets, lights and air-conditioners. First, the time series of real-time electricity rate, renewable energy, and energy demand are modeled by echo state networks as periodic functions. Second, given these periodic functions, a Q-learning based algorithm is developed for optimal control of the battery in the office, so that the total cost on energy from the grid is reduced. Finally, numerical analysis is conducted to show the performance of the developed algorithm.

关键词： office energy consumption Energy requirements Batteries Periodic Function control unit algorithms Total Costs Solar Energy Optimal control

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Hybrid membrane computing and pigeon-inspired optimization algorithm for brushless direct current motor parameter design

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Science China(Technological Sciences) 2016年第9期59卷 1435-1441页

作者： DENG YiMin ZHU WeiRen DUAN HaiBin Bio-inspired Autonomous Flight Systems (BAFS) Research Group Science and Technology on Aircraft Control Laboratory Beihang University School of Automation Science and Electrical Engineering Beihang University

In this paper, a novel approach is proposed for solving the parameter design problem of brushless direct current(BLDC) motor, which is based on the membrane computing(MC) and pigeon-inspired optimization(PIO) algorithm. The motor parameter design problem is converted to an optimization problem with five design parameters and six constraints. The PIO algorithm is introduced into the framework of MC for improving the global convergence performance. The hybrid algorithm can improve the population diversity with better searching efficiency. Comparative simulations are conducted, and comparative results are given to show the feasibility and effectiveness of our proposed hybrid algorithm for high nonlinear optimization problems.

关键词： brushless direct current（BLDC） motor pigeon-inspired optimization（PIO） membrane computing（MC）

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Structural controllability of multi-agent systems with general linear dynamics over finite fields 35

Structural controllability of multi-agent systems with gener...

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第35届中国控制会议

作者： Lu Zehuan Zhang Lin Wang Long School of Automation Science and Electrical Engineering Beihang University Center for Systems and Control College of EngineeringPeking University

ISBN: (纸本)9781509009107

This paper studies structural controllability of multi-agent systems over finite fields,where each agent is governed by general linear dynamics defined over finite *** fixed topology,an absolute protocol is proposed,under which we investigate the structural controllability of multi-agent systems over finite *** is shown that a multi-agent system is structurally controllable over a finite field if the graph has a spanning *** switching topology,an algebraic condition is given for the structural controllability of switched multi-agent systems.

关键词： Multi-agent systems Structural controllability Switching topology Finite fields

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